Agricultural implement suspension system

ABSTRACT

A semi-active suspension system includes a suspension element having a damping coefficient range. The suspension element optionally includes an implement end and a chassis end. The semi-active suspension system includes a suspension control circuit in communication with the suspension element. The suspension control circuit optionally includes a kinematic assessment circuit in communication with one or more sensors. The kinematic assessment circuit is configured to measure or determine kinematic characteristics of one or more of the agricultural implement and the chassis. The suspension control circuit optionally includes a damping control circuit, and the damping control circuit generates a specified damping characteristic based on the measured or determined kinematic characteristics. The damping control circuit optionally directs the suspension element to operate within the damping coefficient range based on the specified damping characteristic.

CLAIM OF PRIORITY

This patent application claims the benefit of priority of Weidenbach etal. U.S. Provisional Patent Application Ser. No. 62/697,394 entitled“SEMI-ACTIVE AGRICULTURAL IMPLEMENT SUSPENSION AND METHOD FOR SAME.”filed on Jul. 12, 2018 (Attorney Docket No. 2754.248PRV), which ishereby incorporated by reference herein in its entirety.

COPYRIGHT NOTICE

A portion of the disclosure of this patent document contains materialthat is subject to copyright protection. The copyright owner has noobjection to the facsimile reproduction by anyone of the patent documentor the patent disclosure, as it appears in the Patent and TrademarkOffice patent files or records, but otherwise reserves all copyrightrights whatsoever. The following notice applies to the software and dataas described below and in the drawings that form a part of thisdocument: Copyright Raven Industries, Inc.; Sioux Falls, S. Dak. AllRights Reserved.

TECHNICAL FIELD

This document pertains generally, but not by way of limitation, toagricultural implements and agricultural implement suspensions.

BACKGROUND

In some examples, an agricultural implement (e.g., a sprayer, harvester,planter, or the like) is coupled with a prime mover (e.g., a tractor,truck, machine, or the like). For example, a sprayer is optionallycoupled with a tractor. The tractor is configured to move (e.g., drive,roll, or the like) along terrain (e.g., a road, path, field, row, or thelike). In some examples, the terrain is uneven (e.g., bumpy, rough,sloped, heaved, furrowed, or the like). Movement of the prime moveralong the terrain optionally causes the agricultural implement tointeract with (e.g., collide, touch, hit, contact, rests upon, or thelike) the terrain.

SUMMARY

The present inventors have recognized, among other things, that aproblem to be solved can include avoiding (e.g., limiting, reducing,inhibiting, stopping, preventing, or the like) interaction between anagricultural implement and terrain proximate to the agriculturalimplement. In some examples, the agricultural implement interacts withthe terrain when a prime mover transports the agricultural implementover uneven terrain. In an example, the transport (e.g., by the primemover or a trailer) of the agricultural implement over uneven terraincauses movement (e.g., bouncing, swinging, swaying, flailing, or thelike) of the agricultural implement. In one example, movement of theagricultural implement causes interaction of the agricultural implementwith the terrain. For example, the prime mover traverses over a bump ina farm field. The traversing over the bump moves the chassis of theprime mover (or a chassis of a trailer). The agricultural implement isoptionally coupled to the chassis, and the agricultural implement moveswith the prime mover. For instance, a sprayer boom of the agriculturalimplement sways in response to a trailer traversing over the bump.

The present subject matter can help provide a solution to this problem,such as by providing a semi-active suspension system. The semi-activesuspension system includes a suspension element having a dampingcoefficient range. In an example, the suspension element includes animplement end configured for coupling with the agricultural implement.Additionally, the suspension element includes a chassis end configuredfor coupling with a prime mover chassis of a prime mover (e.g., atractor, a combine, truck, or the like) or a trailer chassis of atrailer (e.g., a trailer towed behind a tractor).

The semi-active suspension system includes a suspension control circuitin communication with the suspension element (e.g., a wireless signal,voltage, current, power, data signal or the like that initiates a changein damping coefficient). The suspension control circuit optionallyincludes a kinematic assessment circuit in communication with one ormore sensors. The kinematic assessment circuit is configured to measureor determine kinematic characteristics (e.g., position, velocity,acceleration, jerk, angular position, angular velocity, angularacceleration, angular jerk, or the like) of one or more of theagricultural implement and the chassis.

In some examples, the suspension control circuit includes a dampingcontrol circuit, and the damping control circuit generates a specifieddamping characteristic based on the measured or determined kinematiccharacteristics of one or more of the agricultural implement and thechassis. The damping control circuit optionally directs the suspensionelement to operate within the damping coefficient range (e.g., at one ormore damping coefficients within the range) based on the specifieddamping characteristic and the related kinematic characteristics.

The semi-active suspension system helps the agricultural implement avoidinteraction with the terrain. For example, the suspension controlcircuit operates the suspension element to damp movement of theagricultural implement in a graduated controlled manner. In an example,the suspension control circuit graduates the specified dampingcharacteristic in proportion to a determined kinematic imbalance (e.g.,an imbalance of forces, moments, or the like) of one or more of theagricultural implement and the chassis. The modulation of the specifieddamping characteristic initiates a change in a damping coefficient ofthe suspension element. The change in the damping coefficient of thesuspension element modulates damping relative to the movement of theagricultural implement.

For example, the specified damping characteristic is graduated toincrease damping of the agricultural implement, for instance when theagricultural implement rotates (e.g., a sprayer boom swaying down towardthe ground) while the chassis does not rotate. The increase in dampinghelps avoid interaction between the agricultural implement and theterrain, for instance by damping the rotation of agricultural implement.Increasing the damping of the agricultural implement reduces (e.g.,restricts, inhibits, prevents, slows, stops, or the like) relativemotion between the agricultural implement and the chassis. In anotherexample, the specified damping characteristic is graduated to decreasedamping of the agricultural implement, for example when the chassisrotates (e.g., rolls, pitches, or the like) as the chassis traversesover uneven terrain. Reducing the damping of the agricultural implementfacilitates relative motion between the agricultural implement and thechassis. Accordingly, the semi-active suspension system helps theagricultural implement continue in its current orientation (e.g., basedon inertia and prior control effort) and avoid interaction with theterrain, for instance by isolating motion of the chassis rolling motionof the chassis) from the agricultural implement.

The present inventors have recognized, among other things, that aproblem to be solved can include interaction of the agriculturalimplement with an obstacle (e.g., a hill, berm, furrow, tree, bump,divot, hole, or the like) in the terrain. For example, the prime movertransports the agricultural implement and locates the agriculturalimplement proximate to a hill. In some examples, the transport of theagricultural implement causes the agricultural implement to interactwith the obstacle. Interaction of the agricultural implement with theterrain reduces performance of the agricultural implement, for instanceby unevenly applying a fertilizer to a crop field. In some examples,interaction of the agricultural implement with the terrain damages theagricultural implement, for instance by bending a sprayer boom.

The present subject matter can help provide a solution to this problem,such as by moving the agricultural implement to avoid interaction of theagricultural implement with the terrain. In an example, the agriculturalimplement is moveably coupled with the chassis, and the agriculturalimplement is optionally moved (e.g., raised, lowered, rotated, or thelike) to avoid interaction between the agricultural implement and theterrain. For example, an actuator is optionally coupled between theimplement support frame (or the chassis) and the sprayer boom. Operationof the actuator (e.g., by a user manipulating a controller) causesmovement of the sprayer boom relative to the implement support frame (orthe chassis).

In some examples, movement of sprayer boom relative to the implementsupport frame (or the chassis) causes a kinematic imbalance. In anexample, the kinematic imbalance affects the performance of theagricultural implement, for instance by altering the orientation of acomponent of the agricultural implement relative to another component ofthe agricultural implement. The present inventors have recognized, amongother things, that a problem to be solved can include reducing theoccurrence of kinematic imbalances. For example, the semi-activesuspension system damps movement of at least the implement support frameduring movement of the sprayer boom relative to the implement supportframe. Damping the movement of at least the implement support framereduces movement of other components connected to the implement supportframe, for instance an additional sprayer boom that is coupled to theimplement support frame.

The present inventors have recognized, among other things, that aproblem to be solved can include maintaining a gap between theagricultural implement and the terrain. The present subject matter canhelp provide a solution to this problem, such as by configuring thesemi-active suspension system to maintain a gap between the agriculturalimplement and the terrain. For example, the system maintains the gapbetween the agricultural implement and the terrain within a gap range.In an example, the system determines the distance between theagricultural implement and the terrain, for instance with a sensor. Thegap between the agricultural implement and the terrain may varydepending upon the characteristics of the terrain (e.g., if the terrainis bumpy). The system optionally moves the agricultural implement tomaintain the agricultural implement within the gap range, for instanceto maintain the agricultural implement at a specified distance (e.g.,two feet, a meter, or the like) from the terrain as the agriculturalimplement is transported along the terrain.

BRIEF DESCRIPTION OF THE DRAWINGS

In the drawings, which are not necessarily drawn to scale, like numeralsmay describe similar components in different views. Like numerals havingdifferent letter suffixes may represent different instances of similarcomponents. The drawings illustrate generally, by way of example, butnot by way of limitation, various embodiments discussed in the presentdocument.

FIG. 1A is a perspective view of a chassis for a prime mover and anagricultural implement with a first kinematic configuration.

FIG. 1B is a schematic view of the chassis, the prime mover, and theagricultural implement of FIG. 1.

FIG. 2 is a perspective view of the chassis, the prime mover, and theagricultural implement of FIG. 1A with a second kinematic configuration.

FIG. 3 is a perspective view of the chassis, the prime mover, and theagricultural implement of FIG. 1A with a third kinematic configuration.

FIG. 4 is a perspective view of the chassis, the prime mover, and theagricultural implement of FIG. 1A with a fourth kinematic configuration.

FIG. 5 is a schematic view of a semi-active suspension system.

FIG. 6 is a schematic view of an algorithm for measuring or determininga specified damping characteristic.

FIG. 7 is a schematic diagram of an algorithm for determining kinematiccharacteristics,

FIG. 8 is a schematic diagram of another algorithm for determiningkinematic characteristics.

FIG. 9 is a schematic diagram of yet another algorithm for determiningkinematic characteristics.

FIG. 10 shows one example of a method for kinematic damping of anagricultural implement.

FIG. 11 illustrates a block diagram of an example machine.

DETAILED DESCRIPTION

FIGS. 1A and 1B are respectively a perspective view and a schematic viewof a chassis 100 for a prime mover 105 (e.g., a vehicle including aprime mover, tow behind vehicle or the like) and an agriculturalimplement 110 with a first kinematic configuration, such as a collectedseries of associated implement positions (of the implement frame, boomsor the like). The prime mover 105 is configured to traverse (e.g., move,drive, roll, or the like) across terrain 120 (e.g., ground, earth, afarm field, or the like). The prime mover 100 includes, but is notlimited to, a tractor, truck, machine, or the like. In some examples,the chassis 100 is included in a trailer, and the trailer istransportable (e.g., pullable, towable, or the like). For example, theprime mover 105 is optionally hitched to the trailer and the prime mover105 transports the trailer across the terrain 120.

The agricultural implement 110 includes, but is not limited to, asprayer, a harvester head, sprayer boom, sprayer boom and implement rackassembly planter row or rows, baler, swather or the like. For example,the agricultural implement 110 optionally includes one or more booms 130(e.g., a beam, truss, or the like), for instance a first boom 130A and asecond boom 130B. The boons 130 extend from the chassis 100, and supportagricultural equipment (e.g., a sprayer, harvester, planter, or thelike).

In an example, the boom 130A is coupled with an implement support frame115. The implement support frame 115 provides an interface for attachingthe agricultural implement 110 to the chassis 100. The implement supportframe supports the boom 130 while coupled to the chassis 100. In someexamples, the boom 130 is moveably coupled to (e.g., rotatable withrespect to, articulatable with respect to, or the like) the implementsupport frame 115. The implement support frame 115 is configured tocouple with the chassis 100. For example, the implement support frame115 includes coupling features that engage with corresponding couplingfeatures of the chassis 100 to facilitate coupling of the implementsupport frame 115 to the chassis 100.

Referring to FIGS. 1A and 1B, one or more suspension elements 140 arecoupled to the chassis 100 and the agricultural implement 110. In anexample, the suspension elements 140 include, but are not limited to, afirst suspension element 140A, a second suspension element 1409, and athird suspension element 140C. In one example, the suspension elements140A, 140B are coupled between the chassis 100 and the booms 130.Optionally, the suspension elements 140A, 140B are used as actuators tomove the booms 130 in addition to providing suspension for the booms130, for instance with a hydraulic accumulator as described herein. Inanother example, the suspension element 140C is coupled between thechassis 100 and the implement support frame 115.

In some examples, the suspension elements 140 damp (e.g., reduce,decrease, slow, lessen, cushion, or the like) movement of theagricultural implement 110. For example, the suspension elements 140damp relative movement between the chassis 100 and the implement supportframe 115. In another example, the suspension elements 140 damp relativemovement between the chassis 100 and the booms 130. In yet anotherexample, the suspension elements 140 damp relative movement between theimplement support frame 115 and the booms 130 The suspension elements140 each have a damping coefficient range, for example between a floor(e.g., low) damping coefficient and a ceiling (e.g., high) dampingcoefficient. The suspension elements 140 operate within the dampingcoefficient range, and a change in a damping coefficient proportionallychanges the damping (e.g., mechanical response) of the suspensionelements 140. In one example, at least one of the suspension elements140, such as 140C coupled between the chassis and the implement supportframe 115 includes a magnetorheological material. A change in thedamping characteristic (e.g., a signal such as voltage, dampingcoefficient value or the like based in part on the kinematiccharacteristics described herein) changes a magnetic field applied tothe suspension element 140C, and accordingly the damping (e.g.,mechanical response) of the suspension element 140B changes inproportion to the change in the damping characteristic.

In another example, one or more of the suspension elements, such as140A, B, include a hydraulic cylinder 141 and a modulating accumulator142. In this example, a valve 143 of the modulating accumulator 142 ismoved between open and closed positions (e.g., within a range ofpositions between open and closed) to accordingly open and close themodulating accumulator 142. Corresponding filling and evacuation of themodulating accumulator 142 (slowing or more rapidly with changes invalve position) thereby controls damping with the hydraulic cylinder 141used as the actuator 150 for one or more of the booms 130. For instance,the damping of the suspension elements 140A, B (in this example also theactuators) changes in proportion to a change in the valve openingdimension.

Optionally, one or more actuators 150 move the booms 130. For example,the actuators 150 move the boom 130B relative to one or more of theimplement support frame 150 and the chassis 100. The actuators 150 movethe booms 130 to change the position (e.g., height, angle, pitch,radius, or the like) of the booms. In an example, the booms 130 aremoved to change the position of sprayers 160 that dispense anagricultural fluid (e.g., fertilizer, or the like) onto the terrain 120.

In some examples, a semi-active suspension system 170 includes thesuspension elements 140 and a suspension control circuit 175. Thesuspension control circuit 175 is in communication with (e.g.,electrically, hydraulically, wirelessly, or the like) the suspensionelements 140. The suspension control circuit 175 directs the suspensionelement to operate according to a determined damping characteristic(e.g., determined based on kinematic characteristics, described herein).Optionally, the damping characteristic corresponds to a dampingcoefficient within the damping coefficient range of the respectivesuspension element 140. Accordingly, the suspension control circuit 175facilitates a change in the of the suspension elements 140. As describedin greater detail herein, in some examples, the damping provided by thesuspension elements 140 is changed based on a specified dampingcharacteristic. The specified damping characteristic is based on one ormore of measured or determined kinematic characteristics of one or moreof the chassis 100 and the agricultural implement 110.

Referring to FIGS. 1A and 1B, one or more proximity sensors 180 areoptionally coupled to at least one of the chassis 100, the implementsupport frame 115, and the booms 130. In an example, the proximitysensors 180 are in communication with the suspension control circuit 175and the proximity sensors 180 measure a distance between the sensors 180and an object (e.g., the terrain 120). For instance, the sensors 180 arecoupled with the boom 13013 and measure the distance between the boom130B and the terrain 120. In another example, the sensors 180 facilitatemeasuring the distance between the sprayers 160 and the terrain 120.

As shown in FIG. 1A, the chassis 100, the prime mover 105, and theagricultural implement are in a first kinematic configuration. Forexample, the chassis 100 is not rotating (e.g., rolling, tipping,pitching, or the like) in FIG. 1A because the prime mover 105 istraversing along consistent (e.g., smooth, even, or the like) terrain120. Additionally, the implement support frame 115 is not rotating.Further, the booms 130 are not interacting with the terrain 120.

In an example, the terrain 120 is consistent (e.g., smooth, planar, orthe like). In another example, the terrain 120 is uneven (e.g., bumpy,hilly, or the like). For example, the terrain 120 optionally includes anobstacle 125 (e.g., a hill, a mound, a tree, or the like). In someexamples, the agricultural implement 110 interacts with the obstacle 125if the agricultural implement is transported proximate to the obstacle125. In an example, the prime mover traversing over the terrain 120encounters the obstacle 125. The agricultural implement will interactwith the obstacle unless the interaction is avoided. In an example, acontrol effort is applied to the boom 130A to move the boom 130A out ofthe way of the obstacle 1255. The control effort applied to the boom130A creates a kinematic imbalance incident upon one or more of theimplement support frame 115 and the chassis 100.

FIG. 2 is a perspective view of the chassis 100, the prime mover 105,and the agricultural implement 110 of FIG. 1A in a second kinematicconfiguration. As shown in FIG. 2, the chassis 100 is rotated, forexample in the direction of the arrow 200. As described herein, theimplement support frame 115 is optionally coupled with the chassis 100.In some examples, the implement support frame 110 moves (e.g., has oneor more degrees of freedom) with respect to the chassis 100. Forexample, the implement support frame 115 rotates (e.g., clockwise orcounter-clockwise) with respect to the chassis 100. In another example,the chassis 100 rotates with respect to the implement support frame 115.For instance, the chassis 100 rotates when traversing uneven terrain120. In this example, because the implement support frame 110 movesrelative to the chassis 100 (e.g., continues in its previous posturefrom FIG. 1B due to inertia and previous control effort), the implementsupport frame does not rotate with chassis 100.

In one example, the suspension control system 170 directs the suspensionelements 140 to operate within the damping coefficient range. Forexample, the suspension control system 170 directs a decrease in thedamping coefficient of the suspension elements 140 when the chassis 100rotates (e.g., in the direction of the arrow 200) and when theagricultural implement 110 does not rotate (or rotates in a directionopposite to the arrow 200). Accordingly, in some examples, the relativemotion between the chassis 100 and the agricultural implement 140absorbs the movement of the chassis 100 and reduces the movement of theagricultural implement 110 as a result of the chassis 100 traversinguneven terrain thereby minimizing ‘flying’ up of one or more of thebooms 130A, B relative to a specified application distance or height or‘crashing’ down of one or more of the booms 130A, B with the ground.

FIG. 3 is a perspective view of the chassis 100, the prime mover 105,and the agricultural implement 110 of FIG. 1A with a third kinematicconfiguration. As shown in FIG. 3, the agricultural implement 110 (e.g.,the implement support frame 115) is rotated, for instance in thedirection of arrow 300. In this example, because the booms 130 arecoupled with the implement support frame 115, the booms 130 move inproportion to movement of the implement support frame 115. Accordingly,in some examples, rotation of the implement support frame 115 causes aproportional (e.g., corresponding) rotation of the booms 130.

In an example, the semi-active suspension system 170 directs thesuspension elements to operate within the damping coefficient range. Forexample, the suspension control system 170 provides a dampingcharacteristic (as described herein, based on one or more measured ordetermined kinematic characteristics) that increases the damping of thesuspension elements 140 (e.g., suspension element 140C in FIG. 1B) whenthe implement support frame 115 rotates (e.g., in the direction of thearrow 300) and when the chassis 100 does not rotate (or rotates in adirection of the arrow 200).

In some examples, the booms 130 are moveable relative to the implementsupport frame 115. Movement of the booms causes a kinematic imbalancewithin the semi-active suspension system 170. For example, the firstboom 130A is optionally moved (e.g., rotated in the direction oppositeto the arrow 300) to avoid interacting with the terrain 120. In thisexample, because the boom is moveably coupled to the implement supportframe 115, the movement of the booms 130 applies a kinematic load (e.g.,a force, a moment, or the like) to the implement support frame 115. Whenthe kinematic load applied to the implement support frame 115 is uneven(e.g., if the boom 130A is moved to a different magnitude or relative tothe boom 130B) a kinematic imbalance is incident upon one or more of thechassis 100 and the implement support frame 115. In some examples, thekinematic imbalance causes movement of one or more of the chassis 100,the implement support frame 115, and the booms 130.

In an example, the boom 130B is rotated (e.g., in the direction of arrow300) to compensate for the kinematic load incident upon the implementsupport frame 115 due to rotation of the boom 130A. For instance, theboom 130B counterrotates with respect to the boom 130A to compensate forthe kinematic load incident upon the implement support frame 115. Inanother example, the semi-active suspension system 170 compensates forthe kinematic imbalance incident upon one or more of the chassis 100 andthe frame 115 by directing the suspension elements 140 to operateaccording to a damping characteristic determined based on these measuredand determined kinematic characteristics. In some examples, the dampingcharacteristic corresponds to a damping coefficient of the suspensionelement 140, such as a hydraulic suspension cylinder that minimizes theeffect of the kinematic imbalance, such as counterrotation of an opposedboom.

FIG. 4 is a perspective view of the chassis 100, the prime mover 105,and the agricultural implement 110 of FIG. 1A with a fourth kinematicconfiguration. As shown in FIG. 1, the agricultural implement 110 isrotated with respect to the chassis 100, for instance in the directionof arrow 400 due to a kinematic imbalance. The semi-active suspensionsystem 170 directs the suspension elements 140 to operate at a dampingcoefficient that reduces the kinematic imbalance. In some examples, thebooms 130 are rotated to reduce the kinematic imbalance. In anotherexample, the booms 130 are rotated to maintain the position of the boomswith respect to the terrain 120. For example, the booms 130 are rotatedto maintain the boom 130A within a gap range, for instance at a firstgap (e.g., distance) from the terrain.

FIG. 5 is a schematic view of the semi-active suspension system 170. Asdescribed herein, the semi-active suspension system 170 includes thesuspension control circuit 175. The suspension control circuit 175controls one or more functions or components of the semi-activesuspension system 170. For instance, the suspension control circuit 175directs the suspension elements 140 operate within the dampingcoefficient range based on a specified damping characteristic.

In an example, the suspension control circuit 175 includes one or morecircuits 500, for example a kinematic assessment circuit 501. Thekinematic assessment circuit 501 is in communication with one or morekinematic sensors 510, and the kinematic assessment circuit 501 isconfigured to measure or determine kinematic characteristics of one ormore of the agricultural implement 110 and the chassis 100. Forinstance, the sensors 510 include one or more of a position sensor, avelocity sensor, an acceleration sensor, a jerk sensor, a force sensor,and a torque sensor.

The sensors 510 measure kinematic characteristics (e.g., position,altitude, attitude, velocity, acceleration, jerk, angular position,angular velocity, angular acceleration, angular jerk, or the like) ofone or more of the agricultural implement 110 and the chassis 100. Forexample, a first kinematic sensor 510A is coupled with the chassis 100.The first sensor 510A measures one or more kinematic characteristics(e.g., angular acceleration) of the chassis 100, for instance todetermine whether the chassis 100 is rotating. In another example, asecond kinematic sensor 510B is coupled to the implement support frame115, and the sensor 510B measures one or more kinematic characteristics(e.g., angular velocity) of the implement support frame 115. A thirdsensor 510C is optionally coupled to the first boom 130A, and the thirdsensor 510C measures one or more kinematic characteristics of the firstboom 130A. A fourth sensor 510D is optionally coupled to the second boom130B, and the fourth sensor 510D measures one or more kinematiccharacteristics (e.g., velocity) of the second boom 130B.

In some examples, the kinematic assessment circuit 501 determines thekinematic characteristics of one or more of the agricultural implement115 and the chassis 100. For example, the first sensor 110A measuresvelocity of the boom 130B (shown in FIG. 1). The kinematic assessmentcircuit 501 optionally determines kinematic characteristics byconverting (e.g., deriving, integrating, transforming, mathematicallymanipulating, or the like) the measurement of the velocity of the boom130B to determine one or more kinematic characteristics, for instancethe position of the boom 130B, the acceleration of the boom 130B, andthe jerk of the boom 130B.

In another example, the kinematic assessment circuit 501 determines thekinematic characteristics of the chassis 100 relative to theagricultural implement 110. For example, the kinematic assessmentcircuit 501 combines a first set of kinematic characteristics providedby the first sensor 110A (that is coupled to the chassis 100) with asecond set of kinematic characteristics provided by the second sensor110B (that is coupled to the implement support frame 115). The kinematicassessment circuit 501 optionally determines the kinematiccharacteristics of the agricultural implement 110 (e.g., the implementsupport frame 115) by isolating the kinematic characteristics of thechassis 100 from the measured kinematic characteristics of theagricultural implement. For example, the kinematic assessment circuit501 determines the one or more of the relative position, velocity,acceleration, displacement or the like of the agricultural implement 110relative to the chassis 100. Accordingly, the kinematic assessmentcircuit 501 determines the kinematic characteristics of the agriculturalimplement 110 as the chassis 100 traverses the terrain 120 (shown inFIG. 1A).

In an example, the suspension control circuit 175 includes one or moreof a first rate of change circuit 502 and a second rate of changecircuit 503. The rate of change circuits 502, 503 determine the rate ofchange of one or more measured kinematic characteristics associated withone or more of the chassis 100 and the agricultural implement 110. Inanother example, the second sensor 130B measures the position of theboom 130B. The one or more of the rate of change circuits 502, 503determine the rate of change of the measured position of the boom 130B.For instance, the rate of change circuits 502, 503 taking one or more(e.g., two) derivatives of the position of the boom 130B. The rate ofchange circuits 502, 503 are in communication with the kinematicassessment circuit 501, and the kinematic assessment circuit 501determines the acceleration of the boom 130B based on the determinedrate of change of the boom 130B.

The suspension control circuit 175 optionally includes a damping controlcircuit 504. The circuits 500 communicate with the interface 520 (e.g.,a bus, input-output board, or the like) and the interface facilitatesthe communication between the circuits 500. For example, the dampingcontrol circuit 504 communicates with the kinematic assessment circuit501 via the interface 520. In another example, the circuit 501communicates directly (e.g., with a wiring trace) with the circuit 504.

The damping control circuit 504 generates a specified dampingcharacteristic (e.g., voltage, current, magnetic field, value, integer,binary state, or the like) based on the measured or determined kinematiccharacteristics. In an example, the damping control circuit 504 directsthe suspension elements 140 to operate within the damping coefficientrange (e.g., at a specified damping coefficient). In some examples, thedamping control circuit 504 generates the specified dampingcharacteristic between a floor damping characteristic and a ceilingdamping characteristic. The generated specified damping characteristicof the damping control circuit 504 optionally corresponds to a dampingcoefficient between a floor damping coefficient and a ceiling dampingcoefficient within the range of damping coefficients for the suspensionelements 140. Accordingly, the damping control circuit 504 directs theoperation of the suspension elements 140 across a range of dampingcharacteristics that correspondingly modulate the mechanical response ofthe implement (e.g., the implement support rack, booms or the like)based on the measured and determined kinematic characteristics. Thevarying damping characteristics implemented in the suspension elementbetween a floor and ceiling for the suspension element correspond, inone example, to the range of damping coefficients that provide specifieddamping configurations for the suspension elements 140 that addressforce or load imbalances (examples of kinematic characteristics) causedby terrain variations, positioning of the implement (e.g., movement ofthe booms to achieve a specified target height) or the like.

The suspension control circuit 175 graduates the specified dampingcharacteristic to change the damping configuration of the suspensionelements 140. For example, the plurality of damping configurations eachinclude a different damping coefficient. The damping control circuitgraduates the specified damping characteristic based on the measured ordetermined kinematic characteristics provided by the kinematicassessment circuit 501. The damping control circuit 504 selects adamping configuration and associated damping coefficient from theplurality of damping configurations according to the one or morekinematic characteristics of one or more of the agricultural implement110 and the chassis 100. Accordingly, a change in the kinematiccharacteristics of one or more of the chassis 100 and the agriculturalimplement 110 causes a graduation of the specified dampingcharacteristic to provide a damping configuration based on the change inthe measured or determined kinematic characteristics. In an example, thegraduation of the specified damping characteristic changes a magneticfield applied to a magnetorheological material included in thesuspension elements 140. The change in magnetic field correspondinglychanges the damping of the suspension elements 140.

In some examples, the suspension control circuit 175 includes akinematic imbalance circuit 505, and the kinematic imbalance circuit 505determines a kinematic imbalance of the forces incident on one or moreof the agricultural implement 110 and the chassis 100 according to themeasured or determined kinematic characteristics. For example, movementof the boom 130A generates a force upon the implement support frame 115.The kinematic imbalance circuit 505 is in communication with thekinematic assessment circuit 501 and the sensors 510 to determine thekinematic imbalance.

In an example, the kinematic imbalance module 505 combines the measuredor determined kinematic characteristics to determine the kinematicimbalance. For example, the kinematic imbalance module 505 combines afirst set of kinematic characteristics provided by the first sensor 110A(that is coupled to the chassis 100) with a second set of kinematiccharacteristics provided by the second sensor 110B (that is coupled tothe implement support frame 115). In another example, the kinematicimbalance circuit 505 determines the kinematic imbalance incident uponone or more of the chassis 100 and the agricultural implement byobtaining the rates of change of kinematic characteristics provided bythe rate of change circuits 502, 503.

A balancing circuit 506 is optionally included in the suspension controlcircuit. The balancing circuit 506 balances forces incident upon one ormore of the chassis 100 and the agricultural implement 110 based on themeasured or determined kinematic characteristics. For example, ifchassis 100 moves to the left two degrees, the support frame 110 ismoved two degrees to the right to accommodate the movement of thechassis. In an example, the balancing circuit 506 graduates thespecified damping characteristics of the one or more suspension elements140, for instance by cooperating with the damping control circuit 501 togenerate the specified damping characteristic. The balancing circuit 506optionally graduates the specified damping characteristics to balanceforces incident upon one or more of the agricultural implement 110(e.g., the implement support frame 115) and the chassis 100.

In an example, the balancing circuit 506 graduates the specified dampingcharacteristics to reduce the kinematic imbalance determined by thekinematic imbalance module 505. For example, the specified dampingcharacteristic is graduated in proportion to the determined kinematicimbalance. In an example, the specified damping characteristic isincreased (e.g., to increase damping of the implement support frame 115)in proportion to an increase in the determined kinetic imbalance (e.g.,a kinetic imbalance of the support frame 115). For example, a voltage ofa signal transmitted to the suspension element 140 is increased tooperate the suspension element 140 at a damping coefficient thatcorresponds to the specified damping coefficient. In another example,the specified damping characteristic is decreased (e.g., to decreasedamping of the boom 130A) in proportion to a decrease in the determinedkinematic imbalance. In another example, the balancing circuit 506graduates (e.g., decreases) the specified damping characteristic toinhibit movement of the implement support frame 115 relative to thechassis 100 (e.g., when the chassis 100 rotates and the implementsupport frame 115 does not roll with the chassis 100).

The balancing circuit 506 balances forces incident upon the agriculturalimplement 110. For example, the booms 130A, 130B are moveably coupled tothe implement support frame 115. The suspension control circuit 175 isin communication with the actuators 150. In an example, the suspensioncontrol circuit 175 operates the first actuator 150A to move the boom130A. The suspension control circuit 175 operates the second actuator150B to move the boom 130B.

In an example, movement of the booms 130 by the actuators 150 produces akinematic imbalance upon the implement support frame 115. The suspensioncontrol circuit 175 optionally balances the kinematic imbalance, forinstance by graduating a first specified damping characteristic tochange the damping coefficient of the first suspension element 150A.Optionally, the suspension control circuit (e.g., the balancing circuit506) graduates a second specified damping characteristic to graduate thedamping coefficient of the second suspension element 150B. In anexample, the first specified damping characteristic is graduated toincrease the damping coefficient of the suspension element 140A. Theforce imbalance caused by actuator 150 moving the boom 130A is balancedby the increase in the damping coefficient of the suspension element140A. In some examples, the specified damping characteristics aregraduated so that the first specified damping characteristic isdifferent than the second specified clamping characteristic (e.g., thefirst suspension element has a low damping coefficient and the secondsuspension element has a high damping coefficient).

In some examples, the suspension control circuit 175 compares thekinematic imbalance determined by the circuit 505 to an imbalancethreshold. The suspension control circuit 175 optionally graduates thespecified damping characteristics if the kinematic imbalance exceeds theimbalance threshold. For example, the chassis 100 is included in theprime mover 105 (shown in FIG. 1), and the prime mover traverses overthe terrain 120. The terrain 120 has uneven (e.g., bumpy) portions andconsistent (e.g., smooth) portions. The traversing of the prime mover105 over the terrain 120 causes movement of the agricultural implement110. In some examples, transport of the agricultural implement 110 bythe prime mover 105 causes a negligible kinematic imbalance, forinstance when the prime mover 105 traverses over the consistent terrain.The suspension control system 170 optionally has a first damping (e.g.,stiff damping) configuration when the prime mover 105 traverses overconsistent terrain.

In another example, transport of the agricultural implement 110increases the kinematic imbalance, and the kinematic imbalance exceedsthe imbalance threshold, The increase in the kinematic imbalance causesthe agricultural implement 110 to move (e.g., by causing the booms 130to sway). The kinematic imbalance is optionally measured by the sensors140C, 140D, and the semi-active suspension system 170 graduates thespecified damping characteristics to damp the movement of theagricultural implement 110. Accordingly, and in some examples, thesemi-active suspension system 170 directs the damping configuration bycomparing the kinematic imbalance to the imbalance threshold. As aresult, the suspension control system 170 optionally has a seconddamping configuration (e.g., soft damping) when the prime mover 105traverses over uneven terrain or when the kinematic imbalance exceedsthe imbalance threshold.

In an example, the semi-active suspension control system 170 maintains agap between the agricultural implement 110 (e.g., the booms 130) and theterrain 120 (shown in FIG. 1A). For example, the suspension controlcircuit 170 is in communication with the proximity sensors 180, forinstance a first proximity sensor 180A and a second proximity sensor180B. The proximity sensors 180 measure the gap (e.g., spacing,distance, dimension, or the like) between the agricultural implement 110and the terrain 120. For example, the suspension control circuit 175operates the actuators 130 to maintain the gap between the agriculturalimplement 110 and the terrain 120 within a gap range (e.g., 18 inches to24 inches, two feet, a meter, or the like).

FIG. 6 is a schematic view of an algorithm 600 for determining aspecified damping characteristic. The algorithm 600 has one or morekinematic characteristics as inputs and combines one or more of thekinematic characteristics to generate a specified damping characteristic610. For example, an implement control contribution 620 corresponds tothe kinematic characteristics of the agricultural implement 110, forinstance a force applied by the actuators 150 to the booms 130 (shown inFIGS. 1A, 1B). An imbalance contribution 630 is optionally included asan input to the algorithm 630. For example, the kinematic imbalancedetermined by the kinematic imbalance circuit 505 is an input into thealgorithm 600. In another example, the support frame contribution 640 isan input to the algorithm 600. For example, the support framecontribution 640 corresponds to measured or determined kinematiccharacteristics of the implement support frame 115 (shown in FIGS. 1A,1B).

The contributions 620, 630, 640 to the algorithm 600 are combined 650(e.g., added) to determine the specified damping coefficient 610. In anexample, a multiplier 660 modifies the combined 650 contributions 620,630, 640 to change the specified damping coefficient 610. For example,the specified damping coefficient is modified with a gain 670 dependingupon the terrain 120 being traversed by the chassis 100 (shown in FIG.1A), in another example, the multiplier 660 facilitates tuning of thesemi-active suspension system 170 (shown in FIG. 5).

FIG. 7 is a schematic diagram of an algorithm 700 for determiningkinematic characteristics. As described herein, the implement controlcontribution 620 corresponds to the kinematic characteristics of theagricultural implement 110, for instance a force applied by theactuators 150 to the booms 130 (shown in FIGS. 1A, 1B). In an example,the. left and right control efforts 710A, 710B (e.g., an electricalsignal, a voltage, a current, or the like) correspond to the forcegenerated by the actuators 150. Inertial contributions 720A, 720B aredetermined (e.g., with the kinematic sensors 510C, 510D shown in FIG. 5)and the inertial contributions are combined 730 with the control efforts710A, 710B to determine boom control inputs 740A, 740B. The boom controlinputs 740A, 740B correspond to kinematic characteristics of the booms130 relative to one or more of the chassis 100 and the implement supportframe 115.

As further shown in FIG. 7, derivative elements 750 are provided withone or more of the kinematic characteristic inputs. In this example,derivative elements 150 are associated with the boom control inputs740A, 740B. The derivative elements generate rates of change (speeds orvelocities) for each of these characteristic values to facilitatesummation 760 and thereby determine a composite kinematic characteristic(e.g., value). Accordingly, the derivative elements 750 (e.g. rate ofchange circuit 502) facilitate conversion of dissimilar kinematiccharacteristics (e.g., position and velocity) to allow for comparison orevaluation the dissimilar kinematic characteristics in the algorithm600.

The corresponding derived values are, in another example, subject to lowpass filters 770 (e.g., included in the suspension control circuit 175,shown in FIG. 5) to smooth the values prior to summation, for instanceby removing spikes, errant values or the like in the velocities orangles that otherwise skew the values used to generate the specifieddamping coefficient 610. Accordingly, the algorithm 700 generates acorresponding kinematic characteristic including, for this example, theimplement control contribution 620.

FIG. 8 is a schematic diagram of another algorithm 800 for determiningkinematic characteristics. In an example, the imbalance contribution 630is included as an input to the algorithm 600 and corresponds to thekinematic imbalance determined by the kinematic imbalance circuit 505 isan input into the algorithm 600. In an example inputs to the imbalancecontribution 640 include left and right angular positions 810A, 810B ofthe agricultural implement, for if example the angular position of oneor more of the booms 130.

The derivative elements 750 determine a rate of change of the angularpositions 810A, 810B, and accordingly determine the angular velocity ofthe agricultural implement 110, for example left and right angularvelocity inputs 820A, 820B. The angular velocity inputs are summed 760to determine if a kinematic imbalance 830 is incident upon one or morethe chassis 100 or the implement support frame 115.

In an example, the multiplier 660 facilitates tuning of the semi-activesuspension system 170 (shown in FIG. 5), for instance by allowing tuningof kinematic imbalance 830 and the imbalance contribution 630 to thealgorithm 600. In another example, the low pass filters 770 to smooththe values prior to summation, for instance by removing spikes, errantvalues or the like in the velocities or angles that otherwise skew thevalues used to generate the imbalance contribution 630.

FIG. 9 is a schematic diagram of yet another algorithm 900 fordetermining kinematic characteristics. As described herein, the supportframe contribution 640 is an input to the algorithm 600. For example,the support frame contribution 640 corresponds to measured or determinedkinematic characteristics of the implement support frame 115 (shown inFIGS. 1A, 1B). In an example, an angular velocity 910A of the implementsupport frame 100 is an input to the algorithm 900. Additionally, anangular velocity 910B of the chassis 100 is an input to the algorithm900.

The angular velocities 910A, 910B are combined 650, for instance todetermine the motion not reduced 920 by the semi-active suspensionsystem 170. In an example, the chassis 100 and the implement supportframe 115 are rotating in the direction of arrow 300 (shown in FIG. 3).Accordingly, the angular velocities 910A, 910B are combined and aremoving in the same direction. In another example, the chassis 100 isrotating in the direction of the arrow 200 (shown in FIG. 2), and theimplement support frame 115 is rotating in the direction of the arrow300. Accordingly, the semi-active suspension system 170 reduces thetransmission of motion of the chassis 100 to the implement support frame115.

The motion not reduced 920 by the semi-active suspension system 170 isoptionally summed 730 with the angular velocity 910B of the chassis 100,for example to provide a threshold value for whether to damp motion ofthe implement support frame 115 relative to the chassis 100. Thesummation 730 of the angular velocity 910B with the motion not reduced920 by the system 170 reduced noise that is input into the support framecontribution 640 and the algorithm 600. Accordingly, the dampingperformance of the system 170 is thereby improved, for instance byreducing motion of the agricultural implement relative to the terrain120.

In an example, the multiplier 660 facilitates tuning of the semi-activesuspension system 170 (shown in FIG. 5), for instance by allowing tuningof the support frame contribution 640 to the algorithm 600. In anotherexample, the low pass filters 770 to smooth the values prior tosummation, for instance by removing spikes, errant values or the like inthe velocities or angles that otherwise skew the values used to generatesupport frame contribution 640.

The algorithms 600, 700, 800, 900 are optionally included asinstructions that cause the suspension control circuit 170 to performone or more of the functions described herein.

FIG. 10 shows one example of a method 1000 for kinematic damping of anagricultural implement, including one or more of the semi-activesuspension system 100 described herein. In describing the method 1000,reference is made to one or more components, features, functions andoperations previously described herein. Where convenient, reference ismade to the components, features, operations and the like with referencenumerals. The reference numerals provided are exemplary and are notexclusive. For instance, components, features, functions, operations andthe like described in the method 1000 include, but are not limited to,the corresponding numbered elements provided herein and othercorresponding elements described herein (both numbered and unnumbered)as well as their equivalents.

At 1010. kinematic characteristics of one or more of the agriculturalimplement 110 and the chassis 100 are measured or determined. At 1020, aspecified damping characteristic is generated based on the measured ordetermined kinematic characteristics. At 1030, a suspension element isdirected to operate within a damping coefficient range based on thespecified damping characteristic.

Several options for the method 1000 follow. For example, a kinematicimbalance incident on one or more of the agricultural implement 110 andthe chassis 100 is determined according to the measured or determinedkinematic characteristics, in another example, kinematics incident uponone or more of the chassis and the agricultural implement are balancedbased on the measured or determined kinematic characteristics. In someexamples, balancing kinematics includes graduating the specified dampingcharacteristic.

FIG. 11 illustrates a block diagram of an example machine 1100 uponwhich any one or more of the techniques (e.g., methodologies) discussedherein may perform. Examples, as described herein, may include, or mayoperate by, logic or a number of components, or mechanisms in themachine 1100. Circuitry (e.g., processing circuitry, the suspensioncontrol circuit 130, or the like) is a collection of circuitsimplemented in tangible entities of the machine 1100 that includehardware (e.g., simple circuits, gates, logic, etc.). Circuitrymembership may be flexible over time. Circuitries include members thatmay, alone or in combination, perform specified operations whenoperating. In an example, hardware of the circuitry may be immutablydesigned to carry out a specific operation (e.g., hardwired). In anexample, the hardware of the circuitry may include variably connectedphysical components (e.g., execution units, transistors, simplecircuits, etc.) including a machine readable medium physically modified(e.g., magnetically, electrically, moveable placement of invariantmassed particles, etc.) to encode instructions of the specificoperation. In connecting the physical components, the underlyingelectrical properties of a hardware constituent are changed, forexample, from an insulator to a conductor or vice versa. Theinstructions enable embedded hardware (e.g., the execution units or aloading mechanism) to create members of the circuitry in hardware viathe variable connections to carry out portions of the specific operationwhen in operation. Accordingly, in an example, the machine readablemedium elements are part of the circuitry or are communicatively coupledto the other components of the circuitry when the device is operating.In an example, any of the physical components may be used in more thanone member of more than one circuitry. For example, under operation,execution units may be used in a first circuit of a first circuitry atone point in time and reused by a second circuit in the first circuitry,or by a third circuit in a second circuitry at a different time.Additional examples of these components with respect to the machine 1100follow.

In alternative embodiments, the machine 1100 may operate as a standalonedevice or may be connected (e.g., networked) to other machines. In anetworked deployment, the machine 1100 may operate in the capacity of aserver machine, a client machine, or both in server-client networkenvironments. In an example, the machine 1100 may act as a peer machinein peer-to-peer (P2P) (or other distributed) network environment. Themachine 1100 may be a personal computer (PC), a tablet PC, a set-top box(STB), a personal digital assistant (PDA), a mobile telephone, a webappliance, a network router, switch or bridge, or any machine capable ofexecuting instructions (sequential or otherwise) that specify actions tobe taken by that machine. Further, while only a single machine isillustrated, the term “machine” shall also be taken to include anycollection of machines that individually or jointly execute a set (ormultiple sets) of instructions to perform any one or more of themethodologies discussed herein, such as cloud computing, software as aservice (SaaS), other computer cluster configurations.

The machine (e.g., computer system) 1100 may include a hardwareprocessor 1102 (e.g., a central processing unit (CPU), a graphicsprocessing unit (GPU), a hardware processor core, or any combinationthereof), a main memory 1104, a static memory (e.g., memory or storagefor firmware, microcode, a basic-input-output (BIOS), unified extensiblefirmware interface (UEFI), etc.) 1106, and mass storage 1108 (e.g., harddrive, tape drive, flash storage, or other block devices) some or all ofwhich may communicate with each other via an interlink (e.g., bus) 1130.The machine 1100 may further include a display unit 1110, analphanumeric input device 1112 (e.g., a keyboard), and a user interface(UI) navigation device 1114 (e.g., a mouse). In an example, the displayunit 1110, input device 1112 and UI navigation device 1114 may be atouch screen display. The machine 1100 may additionally include astorage device (e.g., drive unit) 1108, a signal generation device 1118(e.g., a speaker), a network interface device 1120, and one or moresensors 1116, such as a global positioning system (GPS) sensor, compass,accelerometer, or other sensor. The machine 1100 may include an outputcontroller 1128, such as a serial (e.g., universal serial bus (USB),parallel, or other wired or wireless (e.g., infrared (IR), near fieldcommunication (NFC), etc.) connection to communicate or control one ormore peripheral devices (e.g., a printer, card reader, etc.).

Registers of the processor 1102, the main memory 1104, the static memory1106, or the mass storage 1108 may be, or include, a machine readablemedium 1122 on which is stored one or more sets of data structures orinstructions 1124 (e.g., software, or the algorithms 600, 700, 800, 900or the like) embodying or utilized by any one or more of the techniquesor functions described herein. The instructions 1124 may also reside,completely or at least partially, within any of registers of theprocessor 1102, the main memory 1104, the static memory 1106, or themass storage 1108 during execution thereof by the machine 1100. In anexample, one or any combination of the hardware processor 1102, the mainmemory 1104, the static memory 1106, or the mass storage 1108 mayconstitute the machine readable media 1122. While the machine readablemedium 1122 is illustrated as a single medium, the term “machinereadable medium” may include a single medium or multiple media (e.g., acentralized or distributed database, and/or associated caches andservers) configured to store the one or more instructions 1124.

The term “machine readable medium” may include any medium that iscapable of storing, encoding, or carrying instructions for execution bythe machine 1100 and that cause the machine 1100 to perform any one ormore of the techniques of the present disclosure, or that is capable ofstoring, encoding or carrying data structures used by or associated withsuch instructions. Non-limiting machine readable medium examples mayinclude solid-state memories, optical media, magnetic media, and signals(e.g., radio frequency signals, other photon based signals, soundsignals, etc.). In an example, a non-transitory machine readable mediumcomprises a machine readable medium with a plurality of particles havinginvariant (e.g., rest) mass, and thus are compositions of matter.Accordingly, non-transitory machine-readable media are machine readablemedia that do not include transitory propagating signals. Specificexamples of non-transitory machine readable media may include:non-volatile memory, such as semiconductor memory devices (e.g.,Electrically Programmable Read-Only Memory (EPROM), ElectricallyErasable Programmable Read-Only Memory (EEPROM)) and flash memorydevices; magnetic disks, such as internal hard disks and removabledisks; magneto-optical disks; and CD-ROM and DVD-ROM disks.

The instructions 1124 may be further transmitted or received over acommunications network 1126 using a transmission medium via the networkinterface device 1120 utilizing any one of a number of transferprotocols (e.g., frame relay, internet protocol (IP), transmissioncontrol protocol (TCP), user datagram protocol (IMP), hypertext transferprotocol (HTTP), etc.). Example communication networks may include alocal area network (LAN), a wide area network (WAN), a packet datanetwork (e.g., the Internet), mobile telephone networks (e.g., cellularnetworks), Plain Old Telephone (POTS) networks, and wireless datanetworks (e.g., institute of Electrical and Electronics Engineers (IEEE)802.11 family of standards known as Wi-Fi®, IEEE 802.16 family ofstandards known as WiMax®), IEEE 802.15.4 family of standards,peer-to-peer (P2P) networks, among others. In an example, the networkinterface device 1120 may include one or more physical jacks (e.g.,Ethernet, coaxial, or phone jacks) or one or more antennas to connect tothe communications network 1126. In an example, the network interfacedevice 1120 may include a plurality of antennas to wirelesslycommunicate using at least one of single-input multiple-output (SIMO),multiple-input multiple-output (MIMO), or multiple-input single-output(MISO) techniques. The term “transmission medium” shall be taken toinclude any intangible medium that is capable of storing, encoding orcarrying instructions for execution by the machine 1100, and includesdigital or analog communications signals or other intangible medium tofacilitate communication of such software. A transmission medium is amachine readable medium.

Various Notes & Aspects

Aspect 1 may include or use subject matter (such as an apparatus, asystem, a device, a method, a means for performing acts, or a devicereadable medium including instructions that, when performed by thedevice, may cause the device to perform acts), such as may include oruse a semi-active suspension system comprising: a suspension elementhaving a damping coefficient range, the suspension element includes: animplement end configured for coupling with an agricultural implement;and a chassis end configured for coupling with a chassis; and asuspension control circuit in communication with the suspension element,the suspension control circuit includes: a kinematic assessment circuitin communication with one or more sensors, the kinematic assessmentcircuit configured to measure or determine kinematic characteristics ofone or more of the agricultural implement and the chassis; and a dampingcontrol circuit configured to: generate a specified dampingcharacteristic based on the measured or determined kinematiccharacteristics; and direct the suspension element to operate within thedamping coefficient range based on the specified damping characteristic.

Aspect 2 may include or use, or may optionally be combined with thesubject matter of Aspect 1, to optionally include or use wherein thesuspension control circuit includes: a kinematic imbalance circuitconfigured to determine a kinematic imbalance of the forces incident onthe agricultural implement according to the measured or determinedkinematic characteristics; and the damping control circuit is furtherconfigured to generate the specified damping characteristic based on thedetermined kinematic imbalance.

Aspect 3 may include or use, or may optionally be combined with thesubject matter of Aspect 2 to optionally include or use wherein thekinematic imbalance circuit is configured to determine the kinematicimbalance with: a first rate of change circuit configured to determinethe rate of change of a first characteristic of the measured kinematiccharacteristics associated with forces incident on the agriculturalimplement; and a second rate of change circuit configured to determinethe rate of change of a second characteristic of the measured kinematiccharacteristics associated with forces incident on the agriculturalimplement.

Aspect 4 may include or use, or may optionally be combined with thesubject matter of Aspect 3 to optionally include or use wherein thefirst characteristic includes a first velocity of a first portion of theagricultural implement and a second velocity of a second portion of theagricultural implement, and the second characteristic includes a firstposition of a first portion of the agricultural implement and a secondposition of a second portion of the agricultural implement.

Aspect 5 may include or use, or may optionally be combined with thesubject matter of Aspect 4 to optionally include or use wherein the rateof the change of the second characteristic includes at least twoderivatives of each of the first position and the second position.

Aspect 6 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 1 through 5 tooptionally include or use wherein the one or more sensors configured tomeasure the kinematic characteristics include one or more of a positionsensor, velocity sensor, acceleration sensor, jerk sensor, force sensoror torque sensor.

Aspect 7 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 1 through 6 tooptionally include or use wherein the one or more kinematiccharacteristics of the agricultural implement include implementposition, implement velocity, implement acceleration, implement jerk,and force effort applied to the implement.

Aspect 8 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 1 through 7 tooptionally include or use wherein the one or more kinematiccharacteristics of the chassis include chassis position, chassisvelocity, chassis acceleration, chassis jerk, and force effort appliedto the chassis.

Aspect 9 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 1 through 8 tooptionally include or use wherein the suspension control circuit isconfigured to generate the specified damping characteristic between afloor damping characteristic and a ceiling damping characteristic, andthe generated specified damping characteristic corresponds to a dampingcoefficient between a floor damping coefficient and a ceiling dampingcoefficient within the range of damping coefficients.

Aspect 10 may include or use, or may optionally be combined with thesubject matter of Aspect 9 to optionally include or use wherein thesuspension element is configured to operate across a range of dampingcharacteristics corresponding to the range of the floor and ceiling ofthe damping coefficients for a plurality of specified dampingconfigurations.

Aspect 11 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 9 or 10 tooptionally include or use wherein the plurality of specified dampingconfigurations each include a different damping coefficient, and thesuspension control circuit is configured to graduate the specifieddamping characteristic based on the measured or determined kinematiccharacteristics; and select a damping configuration and associateddamping coefficient from the plurality of damping configurationsaccording to the one or more kinematic characteristics of theagricultural implement.

Aspect 12 may include or use, or may optionally be combined with thesubject matter of Aspect 11 to optionally include or use wherein thespecified damping characteristic increases in proportion to an increasein a determined kinetic imbalance.

Aspect 13 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 11 or 12 tooptionally include or use wherein the first specified dampingcharacteristic decreases in proportion to a decrease in a determinedkinetic imbalance.

Aspect 14 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 11 through 13 tooptionally include or use wherein the suspension control circuitgraduates the specified damping characteristic based on the measured ordetermined kinematic characteristics.

Aspect 15 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 1 through 14 tooptionally include or use a first sensor is in communication with thesuspension control circuit, and the first sensor is configured tomeasure kinematic characteristics of the agricultural implement relativeto the chassis; and a second sensor is in communication with thesuspension control circuit, and the second sensor is configured tomeasure kinematic characteristics of the chassis.

Aspect 16 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 1 through 15 tooptionally include or use wherein the agricultural implement includes asprayer, harvester, planter, baler or swather.

Aspect 17 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 1 through 16 tooptionally include or use wherein the agricultural implement includes asprayer boom.

Aspect 18 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 1 through 17 tooptionally include or use wherein the agricultural implement includesthe implement support frame.

Aspect 19 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 1 through 18 tooptionally include or use wherein the suspension element includes ahydraulic cylinder with a modulating accumulator, and the suspensioncontrol circuit operates a valve opening of the modulating accumulatorbased on the specified damping characteristic.

Aspect 20 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 1 through 19 tooptionally include or use wherein the chassis is a prime mover chassisor a trailer chassis.

Aspect 21 may include or use subject matter (such as an apparatus, asystem, a device, a method, a means for performing acts, or a devicereadable medium including instructions that, when performed by thedevice, may cause the device to perform acts), such as may include oruse a semi-active suspension system comprising: an agriculturalimplement including: a first sprayer boom; an implement support frameconfigured to: couple with a chassis, wherein the implement supportframe has one or more degrees of freedom relative to the chassis whenthe implement frame is coupled to the chassis; support the first sprayerboom; and wherein the sprayer boom is moveable relative to the implementsupport frame; a first suspension element having a damping coefficientrange and operable between a plurality of damping configurations withinthe damping coefficient range, the first suspension element including: afirst implement end configured for coupling with the first agriculturalimplement; a first chassis end configured for coupling with the chassis;and a suspension control circuit configured to generate a specifieddamping characteristic and direct the first suspension element tooperate between the plurality of damping configurations based on thespecified damping characteristic.

Aspect 22 may include or use, or may optionally be combined with thesubject matter of Aspect 21, to optionally include or use a kinematicassessment circuit included in the suspension control circuit and incommunication with one or more sensors, the kinematic assessment circuitconfigured to measure or determine kinematic characteristics of one ormore of the agricultural implement and the chassis; and a secondsuspension element having a second specified damping characteristic, thesecond suspension element including: a second chassis end configured forcoupling with the chassis; and a second implement end configured forcoupling with the agricultural implement.

Aspect 23 may include or use, or may optionally be combined with thesubject matter of Aspect 22 to optionally include or use wherein thesuspension control circuit includes a balancing circuit, and thebalancing circuit is configured to graduate the first specified dampingcharacteristic and the second specified damping characteristic tobalance forces incident upon the implement support frame based off themeasured or determined kinematic characteristics.

Aspect 24 may include or use, or may optionally be combined with thesubject matter of Aspect 23 to optionally include or use wherein: afirst sensor is in communication with the suspension control circuit,and the first sensor is configured to measure a first set of kinematiccharacteristics of the chassis; a second sensor is in communication withthe suspension control circuit, and the second sensor is configured tomeasure a second set of kinematic characteristics of the agriculturalimplement relative to the chassis; the kinematic imbalance circuit isconfigured to determine a kinematic imbalance by combining the first setof kinematic characteristics and the second set of kinematiccharacteristics; and the suspension control circuit is configured tograduate the first specified damping characteristic and the secondspecified damping characteristic in proportion to the determinedkinematic imbalance.

Aspect 25 may include or use, or may optionally be combined with thesubject matter of Aspect 24 to optionally include or use wherein thefirst specified damping characteristic and the second dampingcharacteristic increases in proportion to an increase in the determinedkinetic imbalance.

Aspect 26 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 24 or 25 tooptionally include or use wherein the first specified dampingcharacteristic and the second damping characteristic decreases inproportion to a decrease in the determined kinetic imbalance.

Aspect 27 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 24 through 26 tooptionally include or use wherein the suspension control circuitcompares the kinematic unbalance to an imbalance threshold, and thesuspension control circuit graduates the first specified dampingcharacteristic and the second specified damping characteristic if thekinematic imbalance exceeds the imbalance threshold.

Aspect 28 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 22 through 27 tooptionally include or use wherein the suspension control circuitincludes a balancing circuit, and the balancing circuit is configured tograduate the first specified damping characteristic and the secondspecified damping characteristic to inhibit movement of the implementsupport frame relative to the chassis.

Aspect 29 may include or use, or may optionally be combined with thesubject matter of one or any combination. of Aspects 21 through 28 tooptionally include or use a second sprayer boom; a second suspensionelement having a second specified damping characteristic, the secondsuspension element including: a second implement end configured forcoupling with the agricultural implement; a second chassis endconfigured for coupling with the chassis; and wherein the suspensioncontrol circuit includes a balancing circuit, and the balancing circuitis configured to graduate the first specified damping characteristic andthe second specified damping characteristic to balance forces incidentupon the agricultural implement.

Aspect 30 may include or use, or may optionally be combined with thesubject matter of Aspect 29 to optionally include or use the suspensioncontrol circuit is in communication with a first actuator configured toprovide a force to control the position of the first sprayer boomrelative to the implement support frame; the suspension control circuitis in communication with a second actuator configured to provide a forceto control the position of the second sprayer boom relative to theimplement support frame; a first sensor is in communication with thesuspension control circuit, and the first sensor is configured tomeasure a first set of kinematic characteristics of the first sprayerboom relative to the chassis; and a second sensor is in communicationwith the suspension control circuit, and the second sensor is configuredto measure a second set of kinematic characteristics of the secondsprayer boom relative to the chassis.

Aspect 31 may include or use, or may optionally be combined with thesubject matter of one or any combination. of Aspects 29 through 31 tooptionally include or use wherein the balancing circuit is configured todetermine a kinematic imbalance by combining the first set of kinematiccharacteristics and the second set of kinematic characteristics; and thesuspension control circuit is configured to graduate the first specifieddamping characteristic and the second specified damping characteristicin proportion to the determined kinematic imbalance.

Aspect 32 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 29 through 31 tooptionally include or use wherein the suspension control circuit isconfigured to control the first actuator to move the agriculturalimplement relevant to the terrain and maintain the first gap within agap range.

Aspect 33 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 29 through 32 tooptionally include or use a first sensor is in communication with thesuspension control circuit, and the first sensor is configured tomeasure a first set of kinematic characteristics of the first sprayerboom relative to the chassis; a second sensor is in communication withthe suspension control circuit, and the second sensor is configured tomeasure a second set of kinematic characteristics of the second sprayerboom relative to the chassis; and a third sensor is in communicationwith the suspension control circuit, and the third sensor is configuredto measure a second set of kinematic characteristics of the implementsupport frame relative to the chassis.

Aspect 34 may include or use, or may optionally be combined with thesubject matter of Aspect 33 to optionally include or use wherein thebalancing circuit is configured to determine a kinematic imbalance bycombining the first set of kinematic characteristics, the second set ofkinematic characteristics, and the third set of kinematiccharacteristics; and the suspension control circuit is configured tograduate the first specified damping characteristic and the secondspecified damping characteristic in proportion to the determinedkinematic imbalance.

Aspect 35 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 29 through 34 tooptionally include or use wherein the kinematic characteristics includesone of: a force applied to the first sprayer boom or the second sprayerboom; an annular position of the first sprayer boom or the secondsprayer boom; an angular velocity of the first sprayer boom or thesecond sprayer boom; an angular acceleration of the first sprayer boomor the second sprayer boom; or an angular jerk of the first sprayer boomor the second sprayer boom.

Aspect 36 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 21 through 35 tooptionally include or use wherein the first suspension element includesa magnetorheological material, and the suspension control circuitgraduates the first specified damping characteristic by changing amagnetic field applied to the magnetorheological material.

Aspect 37 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 21 through 36 tooptionally include or use wherein the first implement end is coupled tothe implement support frame.

Aspect 38 may include or use subject matter (such as an apparatus, asystem, a device, a method, a means for performing acts, or a devicereadable medium including instructions that, when performed by thedevice, may cause the device to perform acts), such as may include oruse a semi-active suspension system comprising: a first suspensionelement having a first specified damping characteristic and a secondspecified damping characteristic, the first suspension element includesan implement end configured for coupling with an agricultural implement;a suspension control circuit in communication with the first suspensionelement, the suspension control circuit includes: a kinematicmeasurement circuit in communication with one or more sensors configuredto measure kinematic characteristics of the agricultural implement, adamping control circuit is configured to determine a graduated dampingcoefficient based on the measured kinematic characteristics, andutilizes the graduated damping coefficient as the first specifieddamping characteristic and the second specified damping characteristicof the suspension element, and wherein the suspension control circuit isconfigured to control the specified damping characteristic between aplurality of damping configurations.

Aspect 39 may include or use, or may optionally be combined with thesubject matter of Aspect 38, to optionally include or use wherein theplurality of damping configurations includes: a first dampingconfiguration with a first specified damping characteristic, wherein thefirst damping configuration is configured for uneven terrain; a seconddamping configuration with a second specified damping characteristic,wherein the second damping configuration is configured for consistentterrain.

Aspect 40 may include or use, or may optionally be combined with thesubject matter of Aspect 39 to optionally include or use wherein: in thefirst damping configuration the first suspension element is stiff; andin the second damping configuration the first suspension element issoft.

Aspect 41 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 38 through 40 tooptionally include or use wherein the suspension control circuitincludes a coefficient graduation circuit configured to graduate thefirst specified damping characteristic or the second specified dampingcharacteristic according to a determined kinematic imbalance that ismeasured according to kinematic characteristics of one or more of achassis or the agricultural implement.

Aspect 42 may include or use subject matter (such as an apparatus, asystem, a device, a method, a means for performing acts, or a devicereadable medium including instructions that, when performed by thedevice, may cause the device to perform acts), such as may include oruse a method for damping motion of an agricultural implement, including:measuring or determining kinematic characteristics of one or more of theagricultural implement and a chassis; generating a specified dampingcharacteristic based on the measured or determined kinematiccharacteristics; and directing a suspension element to operate within adamping coefficient range based on the specified damping characteristic.

Aspect 43 may include or use, or may optionally be combined with thesubject matter of Aspect 42, to optionally include or use determining akinematic imbalance incident on one or more of the agriculturalimplement and the chassis according to the measured or determinedkinematic characteristics.

Aspect 44 may include or use, or may optionally be combined with thesubject matter of one or any combination of Aspects 42 or 43 tooptionally include or use balancing kinematics incident upon one or moreof the chassis and the agricultural implement based on the measured ordetermined kinematic characteristics.

Aspect 45 may include or use, or may optionally be combined with thesubject matter of Aspect 44 to optionally include or use whereinbalancing kinematics includes graduating the specified dampingcharacteristic.

Aspect 46 may include or use, or may optionally be combined with anyportion or combination of any portions of any one or more of Aspects Ithrough 45 to include or use, subject matter that may include means forperforming any one or more of the functions of Aspects 1 through 45, ora machine-readable medium including instructions that, when performed bya machine, cause the machine to perform any one or more of the functionsof Aspects 1 through 45.

Each of these non-limiting aspects can stand on its own, or can becombined in various permutations or combinations with one or more of theother aspects.

The above description includes references to the accompanying drawings,which form a part of the detailed description. The drawings show, by wayof illustration, specific embodiments in which the invention can bepracticed. These embodiments are also referred to herein as “examples.”Such examples can include elements in addition to those shown ordescribed. However, the present inventors also contemplate examples inwhich only those elements shown or described are provided. Moreover, thepresent inventors also contemplate examples using any combination orpermutation of those elements shown or described (or one or more aspectsthereof), either with respect to a particular example (or one or moreaspects thereof), or with respect to other examples (or one or moreaspects thereof) shown or described herein.

In the event of inconsistent usages between this document and anydocuments so incorporated by reference, the usage in this documentcontrols.

In this document, the terms “a” or “an” are used, as is common in patentdocuments, to include one or more than one, independent of any otherinstances or usages of “at least one” or “one or more.” In thisdocument, the term “or” is used to refer to a nonexclusive or, such that“A or B” includes “A but not B,” “B but not A,” and “A and B,” unlessotherwise indicated. In this document, the terms “including” and “inwhich” are used as the plain-English equivalents of the respective terms“comprising” and “wherein.” Also, in the following claims, the terms“including” and “comprising” are open-ended, that is, a system, device,article, composition, formulation, or process that includes elements inaddition to those listed after such a term in a claim are still deemedto fall within the scope of that claim. Moreover, in the followingclaims, the terms “first,” “second,” and “third,” etc. are used merelyas labels, and are not intended to impose numerical requirements ontheir objects.

Geometric terms, such as “parallel”, “perpendicular”, “round”, or“square”, are not intended to require absolute mathematical precision,unless the context indicates otherwise. Instead, such geometric termsallow for variations due to manufacturing or equivalent functions. Forexample, if an element is described as “round” or “generally round,” acomponent that is not precisely circular (e.g., one that is slightlyoblong or is a many-sided polygon) is still encompassed by thisdescription.

Method examples described herein can be machine or computer-implementedat least in part. Some examples can include a computer-readable mediumor machine-readable medium encoded with instructions operable toconfigure an electronic device to perform methods as described in theabove examples. An implementation of such methods can include code, suchas microcode, assembly language code, a higher-level language code, orthe like. Such code can include computer readable instructions forperforming various methods. The code may form portions of computerprogram products. Further, in an example, the code can be tangiblystored on one or more volatile, non-transitory, or non-volatile tangiblecomputer-readable media, such as during execution or at other times.Examples of these tangible computer-readable media can include, but arenot limited to, hard disks, removable magnetic disks, removable opticaldisks (e.g., compact disks and digital video disks), magnetic cassettes,memory cards or sticks, random access memories (RAMs), read onlymemories (ROMs), and the like.

The above description is intended to be illustrative, and notrestrictive. For example, the above-described examples more aspectsthereof) may be used in combination with each other. Other embodimentscan be used, such as by one of ordinary skill in the art upon reviewingthe above description. The Abstract is provided to comply with 37 C.F.R.§ 1.72(b), to allow the reader to quickly ascertain the nature of thetechnical disclosure. It is submitted with the understanding that itwill not be used to interpret or limit the scope or meaning of theclaims. Also, in the above Detailed Description, various features may begrouped together to streamline the disclosure. This should not beinterpreted as intending that an unclaimed disclosed feature isessential to any claim. Rather, inventive subject matter may lie in lessthan all features of a particular disclosed embodiment. Thus, thefollowing claims are hereby incorporated into the Detailed Descriptionas examples or embodiments, with each claim standing on its own as aseparate embodiment, and it is contemplated that such embodiments can becombined with each other in various combinations or permutations. Thescope of the invention should be determined with reference to theappended claims, along with the full scope of equivalents to which suchclaims are entitled.

1. A semi-active suspension system comprising: a suspension elementhaving a clamping coefficient range, the suspension element includes: animplement end configured for coupling with an agricultural. implement;and a chassis end configured for coupling with a chassis; and asuspension control circuit in communication with the suspension element,the suspension control circuit includes: a kinematic assessment circuitin communication with one or more sensors, the kinematic assessmentcircuit configured to measure or determine kinematic characteristics ofone or more of the agricultural implement and the chassis; and a dampingcontrol circuit configured to: generate a specified dampingcharacteristic based on the measured or determined kinematiccharacteristics; and direct the suspension element to operate within thedamping coefficient range based on the specified damping characteristic.2. The system of claim 2, wherein the suspension control circuitincludes: a kinematic imbalance circuit configured to determine akinematic imbalance of the forces incident on the agricultural implementaccording to the measured or determined kinematic characteristics; andthe damping control circuit is further configured to generate thespecified damping characteristic based on the determined kinematicimbalance.
 3. The semi-active suspension system of claim 2, wherein thekinematic imbalance circuit is configured to determine the kinematicimbalance with: a first rate of change circuit configured to determinethe rate of change of a first characteristic of the measured kinematiccharacteristics associated with forces incident on the agriculturalimplement; and a second rate of change circuit configured to determinethe rate of change of a second characteristic of the measured kinematiccharacteristics associated with forces incident on the agriculturalimplement.
 4. The semi-active suspension system of claim 3, wherein: thefirst characteristic includes a first velocity of a first portion of theagricultural implement and a second velocity of a second portion of theagricultural implement, and the second characteristic includes a firstposition of a first portion of the agricultural implement and a secondposition of a second portion of the agricultural implement.
 5. Thesemi-active suspension system of claim 4, wherein the rate of the changeof the second characteristic includes at least two derivatives of eachof the first position and the second position.
 6. The semi-activesuspension system of claim 1, wherein the one or more sensors configuredto measure the kinematic characteristics include one or more of aposition sensor, velocity sensor, acceleration sensor, jerk sensor,force sensor or torque sensor.
 7. The semi-active suspension system ofclaim 1, wherein the one or more kinematic characteristics of theagricultural implement include implement position, implement velocity,implement acceleration, implement jerk, and force effort applied to theimplement.
 8. The semi-active suspension system of claim 1, wherein theone or more kinematic characteristics of the chassis include chassisposition, chassis velocity, chassis acceleration, chassis jerk, andforce effort applied to the chassis.
 9. The semi-active suspensionsystem of claim 1, wherein the suspension control circuit is configuredto generate the specified damping characteristic between a floor dampingcharacteristic and a ceiling damping characteristic, and the generatedspecified damping characteristic corresponds to a damping coefficientbetween a floor damping coefficient and a ceiling damping coefficientwithin the range of damping coefficients.
 10. The semi-active suspensionsystem of claim 9, wherein the suspension element is configured tooperate across a range of damping characteristics corresponding to therange of the floor and ceiling of the damping coefficients for aplurality of specified damping configurations.
 11. The semi-activesuspension system of claim 9, wherein the plurality of specified dampingconfigurations each include a different damping coefficient, and thesuspension control circuit is configured to graduate the specifieddamping characteristic based on the measured or determined kinematiccharacteristics; and select a damping configuration and associateddamping coefficient from the plurality of damping configurationsaccording to the one or more kinematic characteristics of theagricultural implement.
 12. The system of claim 11, wherein thespecified damping characteristic increases in proportion to an increasein a determined kinetic imbalance.
 13. The system of claim 11, whereinthe first specified damping characteristic decreases in proportion to adecrease in a determined kinetic imbalance.
 14. The semi-activesuspension system of claim 11, wherein the suspension control circuitgraduates the specified damping characteristic based on the measured ordetermined kinematic characteristics.
 15. The system of claim 1,wherein: a first sensor is in communication with the suspension controlcircuit, and the first sensor is configured to measure kinematiccharacteristics of the agricultural implement relative to the chassis;and a second sensor is in communication with the suspension controlcircuit, and the second sensor is configured to measure kinematiccharacteristics of the chassis.
 16. The semi-active suspension system ofclaim 1, wherein the agricultural implement includes a sprayer,harvester, planter, baler or swather.
 17. The semi-active suspension ofclaim 1, wherein the agricultural implement includes a sprayer boom. 18.The semi-active suspension of claim 1, wherein the agriculturalimplement includes the implement support frame.
 19. The semi-activesuspension of claim 1, wherein the suspension element includes ahydraulic cylinder with a modulating accumulator, and the suspensioncontrol circuit operates a valve opening of the modulating accumulatorbased on the specified damping characteristic.
 20. The semi-activesuspension of claim 1, wherein the chassis is a prime mover chassis or atrailer chassis.
 21. A semi-active suspension system comprising: anagricultural implement including: a first sprayer boom; an implementsupport frame configured to: couple with a chassis, wherein theimplement support frame has one or more degrees of freedom relative tothe chassis when the implement frame is coupled to the chassis; supportthe first sprayer boom; and wherein the sprayer boom is moveablerelative to the implement support frame; a first suspension elementhaving a damping coefficient range and operable between a plurality ofdamping configurations within the damping coefficient range, the firstsuspension element including: a first implement end configured forcoupling with the first agricultural implement; a first chassis endconfigured for coupling with the chassis; and a suspension controlcircuit configured to generate a specified damping characteristic anddirect the first suspension element to operate between the plurality ofdamping configurations based on the specified damping characteristic.22. The system of claim 21, further comprising: a kinematic assessmentcircuit included in the suspension control circuit and in communicationwith one or more sensors, the kinematic assessment circuit configured tomeasure or determine kinematic characteristics of one or more of theagricultural implement and the chassis; and a second suspension elementhaving a second specified damping characteristic, the second suspensionelement including: a second chassis end configured for coupling with thechassis; and a second implement end configured for coupling with theagricultural implement.
 23. The system of claim wherein the suspensioncontrol circuit includes a balancing circuit, and the balancing circuitis configured to graduate the first specified damping characteristic andthe second specified damping characteristic to balance forces incidentupon the implement support frame based off the measured or determinedkinematic characteristics.
 24. The system of claim 23, wherein: a firstsensor is in communication with the suspension control circuit, and thefirst sensor is configured to measure a first set of kinematiccharacteristics of the chassis; a second sensor is in communication withthe suspension control circuit, and the second sensor is configured tomeasure a second set of kinematic characteristics of the agriculturalimplement relative to the chassis; the kinematic imbalance circuit isconfigured to determine a kinematic imbalance by combining the first setof kinematic characteristics and the second set of kinematiccharacteristics; and the suspension control circuit is configured tograduate the first specified damping characteristic and the secondspecified damping characteristic in proportion to the determinedkinematic imbalance.
 25. The system of claim 24, wherein the firstspecified damping characteristic and the second damping characteristicincreases in proportion to an increase in the determined kineticimbalance,
 26. The system of claim 24, wherein the first specifieddamping characteristic and the second damping characteristic decreasesin proportion to a decrease in the determined kinetic imbalance.
 27. Thesystem of claim 24, wherein the suspension control circuit compares thekinematic imbalance to an imbalance threshold, and the suspensioncontrol circuit graduates the first specified damping characteristic andthe second specified damping characteristic if the kinematic imbalanceexceeds the imbalance threshold.
 28. The system of claim 22, wherein thesuspension control circuit includes a balancing circuit, and thebalancing circuit is configured to graduate the first specified dampingcharacteristic and the second specified damping characteristic toinhibit movement of the implement support frame relative to the chassis.29. The system of claim 21, further comprising: a second sprayer boom; asecond suspension element having a second specified dampingcharacteristic, the second suspension element including: a secondimplement end configured for coupling with the agricultural implement; asecond chassis end configured for coupling with the chassis; and whereinthe suspension control circuit includes a balancing circuit, and thebalancing circuit is configured to graduate the first specified dampingcharacteristic and the second specified damping characteristic tobalance forces incident upon the agricultural implement.
 30. The systemof claim 29, wherein: the suspension control circuit is in communicationwith a first actuator configured to provide a force to control theposition of the first sprayer boom relative to the implement supportframe; the suspension control circuit is in communication with a secondactuator configured to provide a force to control the position of thesecond sprayer boom relative to the implement support frame; a firstsensor is in communication with the suspension control circuit, and thefirst sensor is configured to measure a first set of kinematiccharacteristics of the first sprayer boom relative to the chassis; and asecond sensor is in communication with the suspension control circuit,and the second sensor is configured to measure a second set of kinematiccharacteristics of the second sprayer boom relative to the chassis. 31.The system of claim 29, wherein the balancing circuit is configured todetermine a kinematic imbalance by combining the first set of kinematiccharacteristics and the second set of kinematic characteristics; and thesuspension control circuit is configured to graduate the first specifieddamping characteristic and the second specified damping characteristicin proportion to the determined kinematic imbalance.
 32. The system ofclaim 29, wherein the suspension control circuit is configured tocontrol the first actuator to move the agricultural implement relevantto the terrain and maintain the first gap within a gap range.
 33. Thesystem of claim 29, further comprising: a first sensor is incommunication with the suspension control circuit, and the first sensoris configured to measure a first set of kinematic characteristics of thefirst sprayer boom relative to the chassis; a second sensor is incommunication with the suspension control circuit, and the second sensoris configured to measure a second set of kinematic characteristics ofthe second sprayer boom relative to the chassis; and a third sensor isin communication with the suspension control circuit, and the thirdsensor is configured to measure a second set of kinematiccharacteristics of the implement support frame relative to the chassis.34. The system of claim 33, wherein the balancing circuit is configuredto determine a kinematic imbalance by combining the first set ofkinematic characteristics, the second set of kinematic characteristics,and the third set of kinematic characteristics; and the suspensioncontrol circuit is configured to graduate the first specified dampingcharacteristic and the second specified damping characteristic inproportion to the determined kinematic imbalance.
 35. The system ofclaim 29, wherein the kinematic characteristics includes one of: a forceapplied to the first sprayer boom or the second sprayer boom; an angularposition of the first sprayer boom or the second sprayer boom; anangular velocity of the first sprayer boom or the second sprayer boom;an angular acceleration of the first sprayer boom or the second sprayerboom; or an angular jerk of the first sprayer boom or the second sprayerboom.
 36. The system of claim 21, wherein the first suspension elementincludes a magnetorheological material, and the suspension controlcircuit graduates the first specified damping characteristic by changinga magnetic field applied to the magnetorheological material.
 37. Thesystem of claim 21, wherein the first implement end is coupled to theimplement support frame.
 38. A semi-active suspension system comprising:a first suspension element having a first specified dampingcharacteristic and a second specified damping characteristic, the firstsuspension element includes an implement end configured for couplingwith an agricultural implement; a suspension control circuit incommunication with the first suspension element, the suspension controlcircuit includes: a kinematic measurement circuit in communication withone or more sensors configured to measure kinematic characteristics ofthe agricultural implement, a damping control circuit is configured todetermine a graduated damping coefficient based on the measuredkinematic characteristics, and utilizes the graduated dampingcoefficient as the first specified damping characteristic and the secondspecified damping characteristic of the suspension element, and whereinthe suspension control circuit is configured to control the specifieddamping characteristic between a plurality of damping configurations.39. The system of claim 38, wherein the plurality of dampingconfigurations includes: a first damping configuration with a firstspecified damping characteristic, wherein the first dampingconfiguration is configured for uneven terrain; a second dampingconfiguration with a second specified damping characteristic, whereinthe second damping configuration is configured for consistent terrain.40. The system of claim 39, wherein: in the first damping configurationthe first suspension element is stiff; and in the second dampingconfiguration the first suspension element is soft.
 41. The system ofclaim 38, wherein the suspension control circuit includes a coefficientgraduation circuit configured to graduate the first specified dampingcharacteristic or the second specified damping characteristic accordingto a determined kinematic imbalance that is measured according tokinematic characteristics of one or more of a chassis or theagricultural implement.
 42. A method for damping motion of anagricultural implement, including: measuring or determining kinematiccharacteristics of one or more of the agricultural implement and achassis; generating a specified damping characteristic based on themeasured or determined kinematic characteristics; and directing asuspension element to operate within a damping coefficient range basedon the specified damping characteristic.
 43. The method of claim 42,further comprising determining a kinematic imbalance incident on one ormore of the agricultural implement and the chassis according to themeasured or determined kinematic characteristics.
 44. The method ofclaim 42, further comprising balancing kinematics incident upon one ormore of the chassis and the agricultural implement based on the measuredor determined kinematic characteristics.
 45. The method of claim 44.wherein balancing kinematics includes graduating the specified dampingcharacteristic.